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 "cells": [
  {
   "cell_type": "markdown",
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   "source": [
    "# Rendering MultibodyPlant Tutorial"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## 1、导入\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import os\n",
    "\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib as mpl\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "ename": "ImportError",
     "evalue": "cannot import name 'Visualizer'",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mImportError\u001b[0m                               Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-6-a05017552f77>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mpydrake\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcommon\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mFindResourceOrThrow\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 2\u001b[0;31m \u001b[0;32mfrom\u001b[0m \u001b[0mpydrake\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgeometry\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mVisualizer\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      3\u001b[0m \u001b[0;31m#from pydrake import DrakeVisualizer\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      4\u001b[0m from pydrake.geometry.render import (\n\u001b[1;32m      5\u001b[0m     \u001b[0mDepthCameraProperties\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mImportError\u001b[0m: cannot import name 'Visualizer'"
     ]
    }
   ],
   "source": [
    "from pydrake.common import FindResourceOrThrow\n",
    "from pydrake.geometry import DrakeVisualizer\n",
    "from pydrake.geometry.render import (\n",
    "    DepthCameraProperties,\n",
    "    RenderLabel,\n",
    "    MakeRenderEngineVtk,\n",
    "    RenderEngineVtkParams,\n",
    ")\n",
    "from pydrake.math import RigidTransform, RollPitchYaw\n",
    "from pydrake.multibody.parsing import Parser\n",
    "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
    "from pydrake.multibody.tree import BodyIndex\n",
    "from pydrake.systems.analysis import Simulator\n",
    "from pydrake.systems.framework import DiagramBuilder\n",
    "from pydrake.systems.meshcat_visualizer import ConnectMeshcatVisualizer\n",
    "from pydrake.systems.sensors import RgbdSensor"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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